TWI794594B - Textile machine and teaching method - Google Patents

Abstract

When a yarn threading assisting member of an automatic yarn threading device is in contact with an assisting member guide unit, application of excessive force to the yarn threading assisting member is suppressed without needing complicated control. A spun yarn take-up machine includes a winding device 14 which includes a bobbin holder supporting bobbins and fulcrum guides 21 and performs yarn winding of winding yarns Y onto the bobbins. The spun yarn take-up machine further includes a yarn threading robot 4 which includes a yarn threading assisting member 47 which temporarily holds the yarns Y and a driving mechanism which moves and drives the yarn threading assisting member 47. The yarn threading robot 4 performs yarn threading such that the yarns Y are threaded to the fulcrum guides 21 as the driving mechanism drives the yarn threading assisting member 47. The winding device 14 includes an assisting member guide unit 29 on which a guide surface 29a is formed to guide the yarn threading assisting member 47 in a guide direction having a component in the bobbin axial direction. Furthermore, the yarn threading robot 4 includes a cushion member 60 which absorbs force applied from the guide surface 29a to the yarn threading assisting member 47.

Description

Fiber machine and teaching method

The present invention relates to a fiber machine and a teaching method for a fiber machine.

Patent Document 1 discloses a yarn winding machine that winds a plurality of yarns around a plurality of bobbins while reciprocating them. The thread winding machine has: a plurality of fulcrum guides provided corresponding to the plurality of bobbins; and a thread hooking auxiliary device (thread hanging auxiliary member) for simultaneously hooking the thread toward the plurality of fulcrum guides in a predetermined direction. Auxiliary tool guide (auxiliary member guide). During the threading work toward the fulcrum guide, the operator operates the threading auxiliary member to hold a plurality of threads, and slides the threading auxiliary member in contact with the auxiliary member guide. Thereby, a plurality of wires can be hooked easily to a plurality of fulcrum guides in a short time.

In addition, Patent Document 2 discloses an automatic threading device for automating threading operations and the like toward the above-mentioned fulcrum guide. The automatic wire-hanging device has: the above-mentioned wire-hanging auxiliary member is installed (patent document 2 The robot arm of the wire hanging unit of the middle branch wire guide); and the wire hanging control device (control part) for driving and controlling the robot arm. The control unit can automatically hook the thread toward the plurality of fulcrum guides by driving and controlling the robot arm to move the thread-hanging auxiliary member. Here, in Patent Document 2, there is no description about the auxiliary member guide portion. That is, the above-mentioned automatic thread-hanging device can move the thread-hanging auxiliary member without using the auxiliary member guide. Moreover, there is no relevant record on how the wire hanging unit is installed on the robot arm.

Patent Document 1: Japanese Patent Laid-Open No. 2015-164875

Patent Document 2: Japanese Patent Laid-Open No. 2017-82379

In the automatic threading device described in Patent Document 2, in order to perform the threading work normally without using the auxiliary member guide, precise teaching is required, and a robot for making the threading auxiliary member follow a desired track is required. Information related to the movement of the arm is stored in the control unit. Therefore, there is a problem that teaching takes a lot of time and effort. Therefore, even in the automatic threading device described above, there is a desire to perform threading work by moving the threading auxiliary member along the auxiliary member guide described in Patent Document 1. However, in the case of simply attaching the wire unit to the robot arm (ie, fixing the wire unit to the robot arm), there are the following problems. That is, when the thread-hanging auxiliary member abuts against the auxiliary member guide, the auxiliary member The reaction force caused by the guide portion is excessively applied to the wire-hanging auxiliary member, and there is a possibility that the device may be damaged or the like. Therefore, although it is conceivable to perform precise power control for appropriately abutting the wire-hanging auxiliary member against the auxiliary member guide, it is extremely difficult in reality because not only complicated control is required but also cost increases are unavoidable.

A first object of the present invention is to suppress excessive force applied to the thread-hanging auxiliary member without complex control when the thread-hanging auxiliary member provided in the automatic thread-hanging device abuts against the auxiliary member guide in the textile machine. , can carry out hanging wire operation normally. A second object of the present invention is to shorten the time required for teaching in the teaching method of storing operation information related to the wire hanging operation in the control unit.

The fiber machine of the first invention is provided with a winding device and an automatic yarn hanging device, the winding device has a bobbin holder and a plurality of fulcrum guides, and winds a plurality of yarns toward a plurality of bobbins, and the bobbin holder is Supporting a plurality of bobbins arranged in a row along the bobbin axis direction, the above-mentioned fulcrum guides are arranged in a row along the above-mentioned bobbin axis direction, and become the fulcrum when the thread wound around each bobbin reciprocates; the above-mentioned automatic thread hanging device has A wire hanging auxiliary member and a driving mechanism. The above wire hanging auxiliary member is used to temporarily hold the above-mentioned multiple threads. The thread hanging operation in which the plurality of fulcrum guides hook the plurality of threads is characterized in that the above-mentioned winding device has an auxiliary member guide part, and the above-mentioned auxiliary member guide part A guide surface is formed, and the guide surface guides the above-mentioned thread-hanging auxiliary member in a guide direction having a component in the bobbin axis direction, and the above-mentioned automatic thread-hanging device has a buffer portion, and the buffer portion absorbs the force applied to the above-mentioned thread-hanging thread from the above-mentioned guide surface. The reaction force of the auxiliary member.

In the present invention, when the wire-hanging auxiliary member abuts against the guide surface, the buffer portion can absorb the reaction force received by the wire-hanging auxiliary member from the guide surface. Therefore, when the threading auxiliary member provided in the automatic threading device abuts against the auxiliary member guide, excessive force applied to the threading auxiliary member can be suppressed without complicated control, and the threading operation can be performed normally.

In the textile machine according to the second invention, in the above-mentioned first invention, the buffer portion has an elastic member, and the elastic member guides the thread-hanging auxiliary member toward the guide surface side in a direction intersecting with the guide direction by using an elastic restoring force. Bullet.

In the present invention, the wire-hanging auxiliary member can be positively brought into contact with the guide surface within the elastically deformable range of the elastic member. Therefore, it is possible to easily bring the wire hanging auxiliary member into contact with the guide surface without performing precise position control of the wire hanging auxiliary member.

According to the textile machine of the third invention, in the above-mentioned second invention, the buffer part has a rotating member, the rotating member is mounted with the thread hanging auxiliary member and is configured to be rotatable in the crossing direction, and the elastic member rotates the rotating member. The member is biased toward the guide surface side in the intersecting direction.

Although it is possible to directly attach the elastic member to the auxiliary wire hanging member, in this case, it is difficult to expand the movable range of the auxiliary wire hanging member. around the problem. In the present invention, since the rotation member is biased, for example, by attaching the wire-hanging auxiliary member to the front end portion of the rotation member, the movable range of the wire-hanging auxiliary member can be enlarged.

A textile machine according to a fourth invention is the third invention, wherein the elastic member is a torsion spring provided so as to surround a rotation center of the rotation member.

In the present invention, the rotating member can be biased with a simple structure. Therefore, adjustment of the biasing force can also be easily performed.

According to a fifth invention, in any one of the first to fourth inventions, a control unit for controlling the driving mechanism is provided, and the control unit is configured to keep the thread-hanging auxiliary member in contact with the guide surface at all times. The above-mentioned driving mechanism is controlled by the way of moving under the state.

In the present invention, by moving the thread-hanging auxiliary member in a state of always abutting against the guide surface during the thread-hanging work, the thread can be surely hooked on the plurality of fulcrum guides. Therefore, even if the drive mechanism is not precisely controlled, the threading work can be performed normally.

The teaching method of the sixth invention is to perform teaching in the textile machine of any one of the above-mentioned first to fifth inventions in which operation information related to the above-mentioned thread hanging operation is stored in the control unit that controls the above-mentioned driving mechanism, and is characterized in that The operation information is stored in the control unit so that the wire-hanging auxiliary member is always in contact with the guide surface from the start to the end of the wire-hanging operation.

In the case of teaching without using the auxiliary member guide, it is necessary to repeatedly check the operation of the automatic wire hanging device and make a decision by trial and error. Only by fixing the moving path of the wire hanging auxiliary member can the multiple wires be reliably hooked on the multiple fulcrum guides. In the present invention, since the moving path of the thread-hanging auxiliary member can be predetermined by the guide surface of the auxiliary-member guide portion, compared with the case where the thread-hanging operation is performed without using the auxiliary member guide portion, it is possible to significantly reduce the number of operations. The number of confirmations. Therefore, the time required for teaching can be drastically shortened.

In the teaching method of the seventh invention, in the above-mentioned sixth invention, the teaching is performed in a state where the above-mentioned thread-hanging auxiliary member does not hold the thread.

In the case of teaching without using the auxiliary member guide, it is necessary to operate the automatic wire hooking device in a state where the thread hooking auxiliary member actually holds the thread, and to confirm whether or not the plurality of threads are actually hooked on the plurality of fulcrum guides. Therefore, when the wire hanging fails during the teaching, it is necessary to hold the wire by the wire hanging auxiliary member again and perform the teaching again, and thus the teaching takes a lot of time. In the present invention, by storing operation information in the control unit so that the wire-hanging auxiliary member moves along the guide surface, the wire-hanging auxiliary member can be passed through a correct path. Therefore, accurate teaching can be performed even in a state where the thread is not held by the thread-hanging auxiliary member. Therefore, during the teaching, it is possible to save the labor of holding the thread by the thread hanging auxiliary member, and it is possible to remarkably shorten the time required for the teaching.

1: Spinning traction machine (fiber machinery)

3: traction unit

4: Wire hanging robot (automatic wire hanging device)

12: The first godet roller

13: Second Godet Roller

14: Winding device

15: guide rail

20: Body frame

21: Pivot guide

21a: Groove

22: traverse wire guide

23: turntable

24: bobbin holder

25: Contact roller

26: Slider

27: guide rail

28: Supporting member

29: Auxiliary component guide part

29a: Guide surface

31: Main body

32: Robot arm (drive mechanism)

32a: arm

32b: Joint

33: Hanging wire unit

35: Track member

41: frame

41a: base end member

42: Department of Attraction

44: Cutter

45: sliding member

46: abutment roller

46a: Shaft

47: Auxiliary component for hanging wire

47a: Groove

51: Cylinder

52: axis

53: Roller turning device

54: axis

55: Auxiliary component rotation device

60: Buffer

61: extension member (rotation member)

62: rotating shaft

63: torsion spring (elastic member)

63a: one end

63b: the other end

64: arm

65: Through hole

66: Through hole

71: tension coil spring

100: Control device

101: Traction unit control device

102: Hanging wire control device (control part)

102a: storage department

103: Teaching device

111: The first godet motor

112: The second godet motor

113: motor

114: Cylinder

115: Cylinder

116: traverse motor

117: winding motor

121: Main moving device

122: Arm motor

A1: Arrow

A2: Arrow

A3: Arrow

A4: Arrow

B: Bobbin

P: roll

Y: silk thread

[FIG. 1] It is a front view of the spinning take-up machine of this embodiment.

[ Fig. 2 ] is a side view of the traction unit.

[FIG. 3(a), (b)] It is explanatory drawing which shows a fulcrum guide and a guide rail.

[FIG. 4(a), (b)] It is a perspective view of a hanging wire unit.

[ Fig. 5 ] is a block diagram showing an electrical configuration of a spinning take-up machine.

[FIG. 6(a)-(d)] It is explanatory drawing which shows the connection part of a robot arm and a wire hanging unit.

[FIG. 7(a), (b)] It is explanatory drawing which shows the operation|movement of a thread-hanging assisting member.

[FIG. 8(a), (b)] are explanatory diagrams showing the thread-hanging operation toward the godet roller.

[FIG. 9(a), (b)] are explanatory diagrams showing the operation of making the thread-hanging auxiliary member hold the thread.

[ Fig. 10 ] It is an explanatory diagram showing a wire-hanging operation toward a plurality of fulcrum guides.

[ Fig. 11 ] is a flowchart showing steps of teaching.

[FIG. 12] It is explanatory drawing which shows the operation|movement of the wire hanging unit in teaching.

[FIG. 13] It is explanatory drawing which shows the hanging wire unit of a modification.

Next, embodiments of the present invention will be described. In addition, for convenience of description, the directions shown in FIGS. 1 and 2 are referred to as front, rear, left, right, up, and down directions.

(Schematic structure of spinning take-up machine)

Fig. 1 is a front view of a spinning take-up machine 1 (fiber machine of the present invention) according to this embodiment. The spinning drawing machine 1 includes a plurality of drawing units 3 and a spinning robot 4 (automatic spinning device of the present invention). The plurality of drawing units 3 are arranged in the left-right direction, and each draws the yarn Y spun from a spinning device (not shown) arranged above, and winds the yarn Y around a plurality of bobbins B to form a package P. The thread-hanging robot 4 is configured to be movable in the left-right direction, and performs an operation for hooking the thread Y toward members constituting each pulling unit 3 .

(traction unit)

Next, the configuration of the pulling unit 3 will be described with reference to FIG. 2 . FIG. 2 is a side view of the traction unit 3 .

As shown in FIG. 2 , the drawing unit 3 includes a first godet 12 , a second godet 13 , and a winding device 14 . The first godet roller 12 is a roller whose axial direction is substantially parallel to the left-right direction, and is arranged above the front end portion of the winding device 14 . The first godet 12 is rotationally driven by a first godet motor 111 (see FIG. 5 ). The second godet roller 13 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed above and behind the first godet roller 12 . The second godet 13 is rotationally driven by a second godet motor 112 (see FIG. 5 ).

The second godet 13 is movably supported by the guide rail 15 . The guide rail 15 extends obliquely upward and rearward. The second godet 13 is configured to be movable along the guide rail 15 by a motor 113 (see FIG. 5 ), a pair of pulleys and a belt (not shown), a pneumatic device, or the like. As a result, the second godet roller 13 can be positioned at the time of winding the yarn Y (see the solid line in FIG. 2 ) and close to it. The first godet roller 12 moves between positions (see the dot chain line in FIG. 2 ) at the time of yarn hanging.

The winding device 14 will be described with reference to FIGS. 2 and 3 . FIG. 3( a ) is an explanatory view showing the position of the fulcrum guide 21 (described later) when the yarn Y is wound. FIG. 3( b ) is an explanatory diagram showing the position of the fulcrum guide 21 when threading is performed.

The winding device 14 is configured to perform a winding operation of winding a plurality of yarns Y around a plurality of bobbins B to form a package P. As shown in FIG. The winding device 14 is disposed below the first godet 12 and the second godet 13 . As shown in FIG. 2 , the winding device 14 includes a plurality of fulcrum guides 21 , a plurality of traverse guides 22 , a turntable 23 , two bobbin holders 24 , and a touch roller 25 .

The plurality of fulcrum guides 21 are guides that serve as fulcrums when the yarn Y is reciprocated by the traverse guides 22 . As shown in FIGS. 2 and 3( a ) and ( b ), the plurality of fulcrum guides 21 are provided individually for the plurality of yarns Y, and are arranged in the front-rear direction (bobbin axis direction). Each fulcrum guide 21 has a groove 21a opened toward the rear side, and the wire Y can be accommodated by inserting the wire Y into the groove 21a from the rear side. As shown in FIG.3(a), (b), the some fulcrum guide 21 is attached to the some slider 26, respectively. The plurality of sliders 26 are supported movably along guide rails 27 extending in the front-rear direction. A plurality of sliders 26 are connected to the cylinder 114 (see FIG. 5 ). When the cylinder 114 is driven, the plurality of sliders 26 moves in the front-rear direction along the guide rail 27 . Thereby, a plurality of fulcrum guides 21 can be arranged at a distance from each other in the front-rear direction when winding the yarn Y (refer to FIG. When the hanging wire position (refer to Figure 3 (b)) to move.

A support member 28 extending in the front-rear direction is arranged below the guide rail 27 . The support member 28 is attached to the body frame 20 (see FIG. 2 ), and supports the guide rail 27 . Moreover, the auxiliary member guide part 29 (refer FIG.3(b)) for guiding the thread hanging auxiliary member 47 (refer FIG.4(a) etc.) mentioned later is attached to the support member 28. As shown in FIG. A guide surface 29 a extending at least in the front-rear direction and abutting against the side surface of the thread-hanging auxiliary member 47 is formed on the auxiliary member guide portion 29 . The auxiliary member guide portion 29 is configured to be switchable between a retracted posture disposed parallel to the support member 28 and a guide posture inclined to the left and right with respect to the support member 28 (see FIG. 3( b )). The auxiliary member guide part 29 switches the attitude|position by being driven by the cylinder 115 (refer FIG. 5), for example. The direction in which the guide surface 29a extends when the posture of the auxiliary member guide portion 29 is the guiding posture is defined as the guiding direction. The guiding direction has a component in the front-rear direction (bobbin axial direction) and a component in the left-right direction. Let the front side and the left side of the guide surface 29a be the near side, and let the rear side and the right side of the guide surface 29a be the back side (refer FIG.3(b)).

Returning to FIG. 2 , the plurality of traverse guides 22 are provided individually for the plurality of yarns Y, and are arranged in a line in the front-rear direction. Each traverse guide 22 is driven by a traverse motor 116 (see FIG. 5 ) to reciprocate in the front-rear direction. Accordingly, the yarn Y hooked on the traverse guide 22 reciprocates around the fulcrum guide 21 .

The turntable 23 is a disk-shaped member whose axial direction is parallel to the front-rear direction. The turntable 23 is rotationally driven by a turntable motor not shown. The two bobbin holders 24 are axially parallel to the front-rear direction, and are rotatably supported by the upper end and the lower end of the turntable 23, respectively. 24 pairs of bobbin holders along the front and back directions A plurality of bobbins B arranged side by side (bobbin axial direction) are supported. The two bobbin holders 24 are rotationally driven by separate winding motors 117 (see FIG. 5 ).

The touch roller 25 is a roller whose axial direction is substantially parallel to the front-rear direction, and is disposed immediately above the upper bobbin holder 24 . The touch roller 25 shapes the shape of the package P by applying contact pressure to the surface of the package P being wound by contacting the surface of the plurality of packages P supported by the upper bobbin holder 24 .

In the winding device 14 having the above structure, if the upper bobbin holder 24 is rotationally driven, the yarn Y reciprocated by the traverse guide 22 is wound around the bobbin B to form a package P (winding). action). Then, when the package P becomes full, the upper and lower positions of the two bobbin holders 24 are exchanged by rotating the turntable 23 . Thereby, the bobbin holder 24 positioned on the lower side moves upward, and the package P can be formed by winding the yarn Y around the bobbin B attached to the bobbin holder 24 . Then, the bobbin holder 24 on which the fully wound package P is mounted moves downward, and the package P is recovered by, for example, a package recovery device (not shown).

(wire hanging robot)

Next, the thread hanging robot 4 will be described with reference to FIG. 2 and FIG. 4( a ), ( b ). Fig.4 (a), (b) is a perspective view of the hanging thread unit 33 mentioned later. The thread hooking robot 4 is configured to hook the thread Y on the first godet 12, the second godet 13, the plurality of fulcrum guides 21, and the like before the winding operation performed by the pulling unit 3. As shown in FIG. 2 , the wire-hanging robot 4 includes a main body 31 , a robot arm 32 (a driving mechanism of the present invention), and a wire-hanging unit 33 .

The main body portion 31 is a member configured in a substantially rectangular parallelepiped shape. Inside the main body 31 is provided a hanging wire control device 102 (a control unit of the present invention, see FIG. 5 ) that controls the operation of the robot arm 32 and the like. Here, rail members 35 extending in the left-right direction are arranged on the front side of the plurality of traction units 3 . The main body part 31 is suspended from the rail member 35, and is moved and driven in the left-right direction along the rail member 35 by the main body moving device 121 (refer FIG. 5).

The robot arm 32 is mounted on the lower surface of the main body portion 31 . The robot arm 32 has a plurality of arms 32 a and a plurality of joints 32 b connecting the arms 32 a to each other. The arm motor 122 (refer FIG. 5) is arrange|positioned in each joint part 32b. When the arm motor 122 (see FIG. 5 ) is driven, the arm 32a swings around the joint portion 32b.

The wire hanging unit 33 is attached to the front end of the robot arm 32 . The wire hanging unit 33 is configured to be elongated along one direction (hereinafter referred to as the first direction) as shown in FIGS. 4( a ) and ( b ). The end of the wire unit 33 on one side in the first direction (hereinafter referred to as the base end side in the first direction) is connected to the arm 32 a (arm 64 ) disposed on the frontmost side of the robot arm 32 . In addition, the side opposite to the proximal end side in the first direction is referred to as the distal end side.

In this embodiment, when the robot arm 32 is driven, the threading unit 33 attached to the front end of the robot arm 32 moves. At this time, the orientation of the hanging wire unit 33 can also be changed. However, as will be described later, the wire-hanging unit 33 is mainly vertically parallel to the vertical direction on the paper of FIG. It is used in an orientation where the upper side in the vertical direction and the lower side of the paper in Fig. 4(a) and (b) are the lower side in the vertical direction. Therefore, hereinafter, the upper and lower directions on the paper in Fig. 4(a) and (b) of the hanging thread unit 33 are set as the second direction, and the paper surfaces in Fig. 4(a) and (b) are regarded as the second direction. The upper side is defined as the upper side in the second direction, and the lower side of the paper surface in FIG. 4( a ), (b) is defined as the lower side in the second direction. Moreover, let the direction orthogonal to both the 1st direction and the 2nd direction be a 3rd direction. And, as shown in Fig. 4(a) and (b), one side and the other side of the third direction are defined and described.

As shown in FIGS. 4( a ) and ( b ), the threading unit 33 includes a frame 41 , a suction unit 42 , a cutter 44 , a sliding member 45 , a contact roller 46 , and a threading auxiliary member 47 .

The frame 41 is a long member extending in the first direction. The base end portion (base end member 41 a ) of the frame 41 in the first direction is connected to the arm 32 a (arm 64 ) disposed on the frontmost side of the robot arm 32 (details will be described later). The suction part 42 extends in the first direction, and can suck and hold the wire Y at its front end. The attraction portion 42 is installed at a portion of one side in the third direction of the frame 41 . The cutter 44 is attached to the frame 41 and is located on the lower side of the suction part 42 in the second direction. The cutter 44 is, for example, a member for cutting unnecessary portions of the thread Y when the thread Y is sucked and held by the suction unit 42 .

The slide member 45 is disposed on the other side of the attraction portion 42 in the third direction. The sliding member 45 is installed on the frame 41 through the cylinder 51 . When the cylinder 51 is driven, the slide member 45 moves in the first direction relative to the frame 41 . Here, both the frame 41 and the sliding member 45 extend along the first direction. Hereinafter, the frame 41 and the sliding member 45 are collectively referred to as the extension member 61 .

At the front end portion of the sliding member 45 in the first direction, a cylindrical shaft 52 penetrating the sliding member 45 in the second direction is provided. The shaft 52 is a member for rotatably supporting the contact roller 46 . In addition, on the inner side in the radial direction of the shaft 52, a cylindrical shaft rotatable with respect to the shaft 52 is provided. 54. The shaft 54 is a member for rotatably supporting the wire hanging auxiliary member 47 .

The contact roller 46 is rotatably supported by a shaft 46a perpendicular to the second direction. The abutment roller 46 is arranged on the upper side of the slide member 45 in the second direction. One end of the shaft 46 a is attached to the shaft 52 . The abutting roller 46 is driven by a roller rotating device 53 to rotate around the shaft 52 . The roller turning device 53 can make the posture of the abutting roller in an initial posture substantially parallel to the first direction (refer to FIG. 4(a)), and an abutment posture substantially parallel to the third direction (refer to FIG. 9(a)). change between.

The wire hooking auxiliary member 47 is a member for temporarily holding the wire Y when the wire Y is hooked to the plurality of fulcrum guides 21 . The thread-hanging auxiliary member 47 is disposed on the upper side in the second direction of the abutment roller 46 . As shown in FIG. 4( a ), a plurality of grooves 47 a are formed in parallel along the longitudinal direction of the wire hanging auxiliary member 47 . The ends of one side of the plurality of grooves 47a are opened, and the distance between the grooves 47a becomes wider as the distance from the opening portion increases. One end in the longitudinal direction of the thread-hanging auxiliary member 47 is attached to the shaft 54 . The thread hanging auxiliary member 47 is driven by the auxiliary member rotating device 55 to rotate around the shaft 54 . The auxiliary member rotating device 55 can set the posture of the wire-hanging auxiliary member 47 at an initial posture substantially parallel to the first direction (refer to FIG. b)) between changes.

(Electrical structure of spinning traction machine)

Next, the electrical configuration of the spinning take-up machine 1 will be described with reference to the block diagram of FIG. 5 . As shown in Figure 5, in the spinning traction machine 1, each traction unit 3 A traction unit control device 101 is provided. The traction unit control device 101 controls the operations of the first godet motor 111 , the second godet motor 112 , the motor 113 , the cylinder 114 , the cylinder 115 , the traverse motor 116 , the winding motor 117 and the like. In addition, each pulling unit 3 includes two winding motors 117, but only one winding motor 117 is shown in FIG. 5 . In addition, in FIG. 5 , only one traverse motor 116 is illustrated, but each traction unit 3 may include a plurality of traverse motors 116 .

Furthermore, in the spinning take-up machine 1 , the yarn hanging robot 4 is provided with a yarn hanging control device 102 . The wire hanging control device 102 controls operations of the main body moving device 121 , the arm motor 122 , the suction unit 42 , the cutter 44 , the cylinder 51 , the roller rotating device 53 , the auxiliary member rotating device 55 and the like. The wire hanging control device 102 has a storage unit 102a for storing operation information related to the operation of the above-mentioned constituent elements. In addition, the robot arm 32 has a plurality of joint parts 32b, and has a plurality of arm motors 122 corresponding to the plurality of joint parts 32b, but only one arm motor 122 is shown in FIG. 5 .

The teaching device 103 , which is a device for performing teaching to store operation information of the wire hanging robot 4 in the storage unit 102 a , is electrically connected to the wire hanging control device 102 . The teach pendant 103 is configured, for example, to allow an operator to input information on the posture and motion of the robot arm 32 . In addition, the teach pendant 103 is configured to be able to transmit to the wire hanging control device 102 a signal for operating the wire hanging robot 4 based on the input information, or to store the input information in the wire hanging control device 102. Signal. In addition, the teaching device 103 does not always need to be connected to the wire control device 102 , and may be connected to the wire control device 102 only when the operator is teaching.

In addition, the spinning take-up machine 1 is equipped with a device for carrying out the overall The control device 100 for the control. The control device 100 is electrically connected to a plurality of traction unit control devices 101 provided in a plurality of traction units 3 and a hanging wire control device 102 . The control device 100 controls the overall operation of the spinning drawing machine 1 by controlling the operations of the plurality of drawing unit control devices 101 and the hanging yarn control device 102 .

Here, in the conventional threading robot, the threading control device 102 carries out threading toward the plurality of fulcrum guides 21 by precisely controlling the movement of the robot arm 32 . However, in such a method, there is a problem that it takes a lot of time to teach the information related to the movement of the robot arm 32 to be stored in the hanging wire control device 102 . Therefore, conventionally, there has been a desire to perform the threading work by moving the threading auxiliary member 47 along the auxiliary member guide portion 29 even in the threading robot. However, in the conventional threading robot, only the threading unit 33 is attached to the robot arm 32 . More specifically, the frame 41 (extension member 61 ) supporting the wire hanging auxiliary member 47 is fixedly connected to the robot arm 32 . Therefore, when the wire hanging auxiliary member 47 is brought into contact with the auxiliary member guide 29 , the reaction force due to the auxiliary member guide 29 is excessively applied to the wire hanging auxiliary member 47 and the device may be damaged. Therefore, although precise power control for appropriately abutting the wire-hanging auxiliary member 47 against the auxiliary member guide 29 is conceivable, it requires complicated control and inevitably increases costs, which is extremely difficult in reality.

Therefore, in the present embodiment, in order to suppress excessive force applied to the thread-hanging assisting member 47 when the thread-hanging assisting member 47 abuts against the assisting-member guide 29 , the thread-hanging robot 4 has a buffer 60 as follows.

(buffer part)

The structure of the buffer unit 60 will be described with reference to FIGS. 6( a ) to ( d ). Fig.6 (a) is the figure which looked at the hanging wire unit 33 from the upper side in the 2nd direction. FIG.6(b) is the figure which looked at the hanging wire unit 33 from one side in a 3rd direction. FIG. 6( c ) is a view of the proximal member 41 a and its vicinity viewed from the upper side in the second direction. FIG. 6( d ) is a sectional view taken along line VId-VId of FIG. 6( c ).

The buffer portion 60 is a member for absorbing an external force when an external force acts on the threading auxiliary member 47 provided on the threading unit 33 . As shown in FIGS. 6( a ) to ( d ), the buffer portion 60 has the above-mentioned extension member 61 (the rotating member of the present invention), a rotating shaft 62 , and a torsion spring 63 (the elastic member of the present invention).

The extension member 61 extends in the first direction, and the wire hanging auxiliary member 47 is attached to the front end. The base end portion (base end member 41 a ) of the extension member 61 in the first direction is attached to the arm 32 a (hereinafter referred to as arm 64 ) disposed on the frontmost side of the robot arm 32 through the rotation shaft 62 extending in the second direction. the lower part.

The rotation shaft 62 is fixed to, for example, the upper surface of the base end member 41a, and is rotatably attached to the lower end portion of the arm 64 (see FIG. 6( d )). Accordingly, when an external force is applied to the extension member 61 , the extension member 61 is rotatable to be driven by the arm 64 with the rotation shaft 62 as a rotation center.

The torsion spring 63 is provided so as to surround the rotation shaft 62 (that is, the rotation center portion of the extension member 61 ). As shown in FIG. 6( d ), one end portion 63 a of the torsion spring 63 extends upward in the second direction, and is inserted through an insertion hole 65 formed in the lower surface of the arm 64 . The other end portion 63b of the torsion spring 63 extends downward in the second direction, and is inserted through a hole formed on the upper surface of the base end member 41a. Through hole 66 . The torsion spring 63 is twisted and elastically deformed when the extension member 61 is driven to rotate, and biases the extension member 61 and the wire-hanging auxiliary member 47 to return to their original positions by elastic restoring force.

(Action of wire hanging auxiliary member)

Next, the operation of the thread-hanging auxiliary member 47 will be described with reference to FIGS. 7( a ) and ( b ). FIG. 7( a ) is an explanatory view showing changes in the posture of the wire hanging assisting member 47 . FIG. 7( b ) is an explanatory diagram showing the operation of the wire-hanging auxiliary member 47 and the extension member 61 when an external force is applied to the wire-hanging auxiliary member 47 . In addition, in FIG.7 (a), (b), the extension member 61 is shown schematically.

As shown in Figure 7 (a), by means of the auxiliary member rotating device 55, the initial posture (referring to the solid line of Figure 7 (a)) and the third direction of the wire hanging auxiliary member 47 are approximately parallel to the first direction. Change the posture between approximately parallel wire hanging postures (refer to the chain line of two dots in FIG. 7( a )).

And, as shown in FIG. 7( b ), the wire-hanging auxiliary member 47 can rotate integrally with the extension member 61 around the rotation shaft 62 (refer to the two-dot chain line in FIG. 7( b )). More specifically, the direction in which the extension member 61 turns intersects with the direction in which the guide surface 29a extends (ie, the guide direction) when the orientation of the auxiliary member guide portion 29 is the guide orientation. Hereinafter, the direction in which the extension member 61 turns is referred to as a crossing direction. And, when the wire hanging auxiliary member 47 is located on the right side of the auxiliary member guide part 29, the front end portion of the wire hanging auxiliary member 47 is arranged on the side close to the guide surface 29a in the cross direction, and the base end portion of the wire hanging auxiliary member 47 is on the side of the guide surface 29a. It is arranged on the side away from the guide surface 29a in the crossing direction. In the intersecting direction, the side close to the guide surface 29a (the guide surface 29a side) is defined as one side, and the side away from the guide surface 29a is defined as the other side.

When an external force acts on the wire hanging auxiliary member 47 in the crossing direction, the external force is absorbed by twisting the torsion spring 63 . In addition, the torsion spring 63 generates an elastic restoring force by being twisted, and the wire-hanging auxiliary member 47 is biased in a direction opposite to the direction of rotation. In Fig. 7 (b), when the wire hanging auxiliary member 47 is rotated toward the other side in the intersecting direction (referring to the chain line of two dots in Fig. 7 (b)), it is drawn toward one side (the guide surface 29a side) spring pressure.

(the method of hanging wire)

Next, with reference to Fig. 8 (a), (b), Fig. 9 (a), (b) and Fig. 10 explanation, make the wire hanging robot 4 toward the first godet 12, the second godet 13 and a plurality of fulcrums The guide 21 carries out the method of hanging wire. FIGS. 8( a ) and ( b ) are explanatory diagrams showing the yarn-hanging operation toward the first godet roller 12 and the second godet roller 13 . 9( a ) and ( b ) are explanatory views showing the operation of holding the thread by the thread-hanging auxiliary member 47 . FIG. 10 is an explanatory view showing a thread-hanging operation toward a plurality of fulcrum guides 21 . The work of threading toward the plurality of fulcrum guides 21 corresponds to the threading work of the present invention.

Before starting the threading, the threading control device 102 makes the postures of the abutting roller 46 of the threading unit 33 and the threading auxiliary member 47 each be an initial posture. And, the drawing unit control device 101 of the drawing unit 3 that becomes the thread hanging object controls the motor 113 (refer to FIG. A little chain line in Figure 2). And, the traction unit control device 101 drives the cylinder 114 (refer to FIG. 5 ) to converge the plurality of fulcrum guides 21 toward the front side so that they are aligned with each other. approach (see Figure 3(b)). In addition, the traction unit control device 101 drives the cylinder 115 (see FIG. 5 ) to switch the posture of the auxiliary member guide part 29 from the initial posture to the guidance posture.

Furthermore, the threading control device 102 controls the main body moving device 121 to move the threading robot 4 to a position where it overlaps with the pulling unit 3 to be threaded in the front-rear direction. Next, the hanging yarn control device 102 controls the arm motor 122, the suction unit 42, etc., so that the suction unit 42 sucks and holds the plurality of yarns Y spun from the spinning device. In addition, the wire hanging control device 102 controls the arm motor 122 to drive the robot arm 32 to move the wire hanging unit 33 . Specifically, the wire-hanging control device 102 moves the wire-hanging unit 33 maintaining a posture in which the first direction is substantially parallel to the front-rear direction, the second direction is substantially parallel to the vertical direction, and the third direction is substantially parallel to the left-right direction. Thus, the thread hanging control device 102 first makes the thread hanging unit 33 carry out thread hanging toward the first godet roller 12 (refer to FIG. silk (see Figure 8(b)).

Next, the hanging wire control device 102 controls the roller rotation device 53 to switch the posture of the abutment roller 46 from the initial posture to the abutment posture (refer to the two-dot chain line in FIG. 9( a )). Then, the abutment roller 46 abuts against the plurality of wires Y and rotates by friction with the plurality of wires Y. As shown in FIG. Thus, the distance between the portions of the plurality of threads Y abutted against the contact roller 46 is widened, and the distance between the plurality of threads Y is substantially the same as the distance between the openings of the plurality of grooves 47 a of the thread hanging auxiliary member 47 . Furthermore, the wire hanging control device 102 drives the cylinder 51 to slide the slide member 45 toward the front end side in the first direction (see arrow A1 in FIG. 9( a )). Then, the abutting roller 46 abutting against the plurality of wires Y and the sliding member 45 Together, they slide toward the front end side in the first direction to separate from the suction portion 42 (see the solid line in FIG. 9( a )). Accordingly, the angle of inclination of the thread Y from the contact roller 46 toward the suction portion 42 with respect to the first direction becomes small, and the fluctuation of the position of the thread Y away from the contact roller 46 can be suppressed, thereby suppressing the thread swinging.

Next, the wire hanging control device 102 controls the auxiliary member rotating device 55 to switch the posture of the wire hanging auxiliary member 47 from the initial posture to the wire hanging posture (see arrow A2 in FIG. 9( b )). Accordingly, the plurality of grooves 47a of the thread-hanging auxiliary member 47 are respectively opposed to the plurality of threads Y abutted against the abutting roller 46 . Next, the hanging wire control device 102 controls the roller rotation device 53 to return the posture of the abutting roller 46 from the abutting posture to the initial posture. Then, the abutment roller 46 is separated from the plurality of wires Y, and the plurality of wires Y are respectively inserted into the plurality of grooves 47a. In this way, the plurality of threads Y are temporarily held by the thread hanging auxiliary member 47 .

Next, the wire-hanging control device 102 drives the robot arm 32 so that the wire-hanging auxiliary member 47 is positioned below the plurality of fulcrum guides 21 and the wire-hanging auxiliary member 47 is not in contact with the auxiliary member guide 29. , so that the wire hanging auxiliary member 47 moves backward. Specifically, the wire hanging control device 102 moves the wire hanging auxiliary member 47 to the rear side of the fulcrum guide 21 positioned on the rearmost side (that is, to the rear side of the fulcrum guide 21 positioned on the innermost side in the guiding direction). . Furthermore, as shown in FIG. 10 , the wire hanging control device 102 drives the robot arm 32 so that the front end of the wire hanging auxiliary member 47 comes into contact with the guide surface 29a of the auxiliary member guide 29 (refer to the two-dot chain line in FIG. 10 ).

Here, since the above-mentioned buffer portion 60 is provided in the thread-hanging robot 4, when the front end portion of the thread-hanging auxiliary member 47 abuts against the guide surface 29a of the auxiliary member guide portion 29, the buffer portion 60 can absorb the thread. Reaction force received by the auxiliary member 47 from the guide surface 29a. Specifically, the extension member 61 to which the wire-hanging auxiliary member 47 is attached is rotated around the rotation shaft 62 to elastically deform the torsion spring 63, whereby the reaction force applied to the wire-hanging auxiliary member 47 from the guide surface 29a is absorb. Therefore, it is possible to suppress excessive biasing of the wire-hanging auxiliary member 47 . In addition, at this time, the extension member 61 and the thread-hanging auxiliary member 47 are biased toward one side (the guide surface 29 a side) in the intersecting direction by the elastic restoring force of the torsion spring 63 . Thereby, the thread-hanging auxiliary member 47 can be reliably brought into contact with the guide surface 29a.

Next, the wire-hanging control device 102 drives the robot arm 32 to move the wire-hanging unit 33 at least toward the near side in the guiding direction in a state where the wire-hanging auxiliary member 47 always abuts against the guide surface 29a (refer to the practical example of FIG. 10 ). line and arrow A3). Accordingly, the plurality of wires Y inserted into the plurality of grooves 47a are respectively hooked on the corresponding fulcrum guides 21 (thread hooking operation). Here, the direction in which the threading unit 33 is moved is preferably substantially parallel to the guiding direction, but it is not limited thereto. That is, the direction in which the wire hanging unit 33 is moved may be inclined to the left or right with respect to the guiding direction. As an example, the hanging wire control device 102 may move the arm 64 straight backward parallel to the front-back direction. Alternatively, the wire hanging control device 102 may make the movement amount of the arm 64 in the crossing direction smaller than the required movement amount of the wire hanging assisting member 47 in the crossing direction. Even in such a case, what is necessary is just to control so that the threading auxiliary member 47 may always abut against the guide surface 29a during the threading operation toward the several fulcrum guide 21. In this way, compared with the configuration in which the auxiliary member guide 29 is not provided, the plurality of threads Y can be hooked on the corresponding fulcrum guides 21 without precisely controlling the moving direction of the thread hooking unit 33 .

Furthermore, after completion of threading to the plurality of fulcrum guides 21 , the pulling unit control device 101 moves the second godet roller 13 and the plurality of fulcrum guides 21 to the positions during the winding operation. Then, the wire hanging control device 102 returns the wire hanging assisting member 47 from the wire hanging posture to the initial posture.

(Teaching method of hanging wire robot)

Next, a teaching method for storing operation information related to the thread hanging operation in the thread hanging control device 102 of the thread hanging robot 4 will be described with reference to FIGS. 11 and 12 . FIG. 11 is a flowchart showing the steps of the teaching. FIG. 12 is an explanatory diagram showing the operation of the wire hanging unit 33 during teaching.

In the present embodiment, the operator performs teaching by operating the teaching device 103 (see FIG. 5 ). In addition, it is assumed that the teaching related to the hooking of the yarn to the first godet 12 and the second godet 13 is performed in advance. In addition, in the present embodiment, the operator teaches in a state where the thread Y is not held by the thread hanging auxiliary member 47 .

First, the operator operates the teaching pendant 103 to temporarily set the start position and end position of the threading work toward the plurality of fulcrum guides 21 in a certain pulling unit 3 (S101). Here, the start position is, for example, the position of the front end of the extension member 61 (see FIG. 12 ) when the threading operation toward the plurality of fulcrum guides 21 is started. Similarly, the end position is, for example, the position of the front end of the extension member 61 when the threading work is completed. Of course, information on the positions of other members such as the arm 64 may be input to the teaching pendant 103 as the start position and the end position.

Next, the operator operates the teach pendant 103, and In the state where the thread assisting member 47 does not hold the thread Y, the operation confirmation of the thread hanging robot 4 is performed (S102). Specifically, the thread hanging robot 4 is actually operated based on the operation information input in step S101 (see arrow A4 in FIG. 12 ).

In the operation confirmation described above, the operator judges visually, for example, whether or not the wire-hanging assisting member 47 is always in contact with the guide surface 29a from the start of the operation to the end of the operation (S103). When the wire hanging auxiliary member 47 is always in contact with the guide surface 29a from the start of the operation to the end of the operation (S103: YES), the operator operates the teaching device 103 to obtain information related to the start position and the end position (action information) is stored in the storage unit 102a of the hanging wire control device 102 (S104). Thereby, operation information is stored so that the wire-hanging auxiliary member 47 is kept in contact with the guide surface 29 a from the start to the end of the wire-hanging operation. In addition, when the thread-hanging assisting member 47 is separated from the guide surface 29a between the start and end of the operation (S103: NO), the operator returns to step S101 to temporarily set the start position and end position again. Even in this case, by visually observing the distance between the front end portion of the thread-hanging auxiliary member 47 and the guide surface 29a at the time of operation confirmation, the information on the start position and the end position can be easily corrected.

In addition, the above-mentioned operation information stored in the wire hanging control device 102 may be developed (duplicated) as operation information related to the wire hanging operation for other pulling units 3 . Generally speaking, the relative position between the thread hanging robot 4 and the fulcrum guide 21 may be slightly different in each pulling unit 3, therefore, in the case of performing precise motion control of the thread hanging robot 4 as in the past, it is necessary to perform Instructions for all traction units 3 that are subject to wire hanging. Regarding this point, in the structure of this embodiment, as long as from the hanging wire What is necessary is just to keep the wire-hanging assisting member 47 in contact with the guide surface 29a from the start of work to the end of work. Therefore, the number of times of teaching can be reduced, and the time required for teaching can be further shortened.

As above, when the threading auxiliary member 47 abuts against the guide surface 29 a during the threading work, the buffer portion 60 can absorb the reaction force received by the threading auxiliary member 47 from the guide surface 29 a. Therefore, it is possible to suppress excessive urging of the threading assisting member 47 when the threading assisting member 47 provided on the threading robot 4 abuts against the assisting member guide portion 29 .

In addition, during the wire hanging operation, the wire hanging auxiliary member 47 is biased toward the guide surface 29a side by the torsion spring 63, so the wire hanging auxiliary member 47 can be positively abutted against the guide within the elastically deformable range of the torsion spring 63. Surface 29a. Therefore, even if the precise position control of the thread-hanging assisting member 47 is not performed, the thread-hanging assisting member 47 can be easily brought into contact with the guide surface 29a.

Furthermore, since the rotatable extension member 61 to which the wire-hanging auxiliary member 47 is attached is elastically pressed, by attaching the wire-hanging auxiliary member 47 to the front end portion of the extension member 61 like this embodiment, the wire-hanging auxiliary member 47 can be enlarged. range of motion.

In addition, the extension member 61 can be biased by a simple structure using the torsion spring 63 . Therefore, adjustment of the urging force can be easily performed.

In addition, during the thread hooking operation, by moving the thread hooking auxiliary member 47 in a state of always abutting against the guide surface 29a, the thread Y can be hooked reliably on the plurality of fulcrum guides 21 . Therefore, even if the robot arm 32 and the arm motor 122 are not precisely controlled, the threading work can be performed normally.

In addition, since the guide surface 29a of the auxiliary member guide 29 can be used to predetermine the moving path of the auxiliary member 47 for thread hanging, it is possible to significantly reduce the number of operations performed compared with the case where the thread hanging operation is performed without using the auxiliary member guide 29. The number of confirmations. Therefore, the time required for teaching can be drastically shortened.

In addition, by storing operation information in the control unit so that the thread assisting member 47 moves along the guide surface 29a, the thread assisting member 47 can be passed through a correct path. Therefore, accurate teaching can be performed even in a state where the thread is not held by the thread-hanging auxiliary member 47 . Therefore, it is possible to save time and effort for holding the thread Y by the thread-hanging auxiliary member 47 during the teaching, and it is possible to significantly shorten the time required for the teaching.

Next, modifications to the above-described embodiment will be described. However, the parts having the same configuration as those in the above-mentioned embodiment are denoted by the same reference numerals and their descriptions are appropriately omitted.

(1) In the above-mentioned embodiment, the extension member 61 and the wire-hanging auxiliary member 47 are biased by the torsion spring 63, but the present invention is not limited thereto. For example, as shown in FIG. 13 , the extension member 61 and the arm 64 may also be connected by a tension coil spring 71 . Thereby, when the wire hanging auxiliary member 47 abuts against the auxiliary member guide portion 29 , the tension coil spring 71 can absorb the reaction force received by the wire hanging auxiliary member 47 from the guide surface 29 a.

(2) In the embodiments up to the above-mentioned embodiments, both the extension member 61 and the wire-hanging auxiliary member 47 are biased, but the present invention is not limited thereto. For example, the extension member 61 may be fixed to the arm 64 and the wire hanging auxiliary member 47 may be configured to be movable in a direction perpendicular to the extension member 61 . and, The wire-hanging assisting member 47 may be biased toward the guide surface 29 a side in the crossing direction by an elastic member such as a compression coil spring or rubber.

(3) In the embodiments up to the above-mentioned embodiments, the buffer portion 60 has an elastic member such as a spring or rubber, but the present invention is not limited thereto. For example, the reaction force from the guide surface 29a may be absorbed by a flexible member such as low-rebound urethane. In addition, in this case, there is a possibility that the wire hanging auxiliary member 47 is not necessarily biased toward the guide surface 29a side. Therefore, in the wire hanging operation, it is preferable to make the arm 64 gradually approach the guide surface 29a in the intersecting direction. The robot arm 32 is controlled in a manner. In addition, a drive device for returning the deflected flexible member to the state before deflection may be provided. Furthermore, it is also possible to surely return the flexible member to the state before bending by the driving device after the threading operation is completed.

(4) In the embodiments up to the above-mentioned embodiment, the teaching was performed in a state where the thread Y is not hooked on the thread-hanging auxiliary member 47 , but it is not limited thereto. Teaching may be performed in a state where the thread Y is hooked on the thread-hanging auxiliary member 47 .

(5) In the embodiments up to the above-mentioned embodiments, the second godet roller 13 can move between the position when the yarn Y is hooked up and the position when the yarn Y is wound up, but the present invention is not limited thereto. . The second godet 13 does not have to be configured to be movable.

(6) In the embodiments up to the above-mentioned embodiments, the spinning drawing machine 1 has a plurality of drawing units 3 , but the present invention is not limited thereto. Only one traction unit 3 may be provided.

(7) In the embodiments up to the above-mentioned embodiment, The thread hanging control device 102 controls the action of the thread hanging robot 4 , but is not limited thereto. For example, the action of the thread hanging robot 4 can also be controlled by the control device 100 .

(8) In the embodiments up to the above-mentioned embodiment, the plurality of fulcrum guides 21 can move and gather forward, but the present invention is not limited thereto. The plurality of fulcrum guides 21 are not necessarily configured to be movable.

(9) The present invention is not limited to the spinning take-up machine 1 , and can be applied to various types of textile machines equipped with an automatic yarn-hanging device such as the yarn-hanging robot 4 .

4: Wire hanging robot (automatic wire hanging device)

14: Winding device

21: Pivot guide

21a: Groove

26: Slider

27: guide rail

28: Supporting member

29: Auxiliary component guide part

29a: Guide surface

32a: arm

33: Hanging wire unit

41a: base end member

47: Auxiliary component for hanging wire

47a: Groove

60: Buffer

61: extension member (rotation member)

62: rotating shaft

63: torsion spring (elastic member)

64: arm

Y: silk thread

Claims (8)

A fiber machine, which is provided with a winding device and an automatic thread hanging device. The winding device has a bobbin holder and a plurality of fulcrum guides and winds a plurality of threads toward a plurality of bobbins. The bobbin holder is supported along the bobbin. A plurality of bobbins arranged in the direction of the bobbin axis, the above-mentioned fulcrum guides are arranged and arranged in the direction of the bobbin axis, and become the fulcrum when the silk thread wound toward each bobbin reciprocates; the above-mentioned automatic thread hanging device has a thread hanging auxiliary Components and a driving mechanism, the above-mentioned wire-hanging auxiliary member is used to temporarily hold the above-mentioned multiple threads, the above-mentioned driving mechanism drives the above-mentioned wire-hanging auxiliary member, and the above-mentioned wire-hanging auxiliary member is moved by the above-mentioned driving mechanism to move toward the above-mentioned multiple wires. The wire hanging operation in which the fulcrum guide hooks the above-mentioned plurality of wires is characterized in that the above-mentioned winding device has an auxiliary member guide part, and a guide surface is formed on the above-mentioned auxiliary member guide part, and the above-mentioned guide surface guides the above-mentioned hanging wire in a guiding direction. In the auxiliary member, the guide direction has a component in the direction of the bobbin axis, and the automatic thread-hanging device has a buffer portion for absorbing a reaction force applied to the thread-hanging auxiliary member from the guide surface. The textile machine according to claim 1, wherein the buffer portion has an elastic member that urges the thread-hanging auxiliary member toward the guide surface side in a direction intersecting with the guide direction by elastic restoring force. The textile machine as claimed in claim 2, wherein, The buffer portion has a rotating member for attaching the thread-hanging auxiliary member and is configured to be rotatable in the crossing direction, and the elastic member biases the rotating member toward the guide surface side in the crossing direction. The textile machine according to claim 3, wherein the elastic member is a torsion spring provided so as to surround the rotation center of the rotation member. The textile machine according to any one of claims 1 to 4, which includes a control unit that controls the drive mechanism, and the control unit moves the thread-hanging auxiliary member in a state where it is always in contact with the guide surface. The way to control the above-mentioned driving mechanism. A teaching method, which is to store the action information related to the above-mentioned thread hanging operation in the control part that controls the above-mentioned driving mechanism in the textile machine according to any one of claims 1 to 4, characterized in that, The operation information is stored in the control unit so that the wire-hanging auxiliary member is always in contact with the guide surface from the start to the end of the wire-hanging operation. A teaching method, which is to store the action information related to the above-mentioned thread hanging operation in the above-mentioned control unit in the fiber machine as described in claim 5, characterized in that, from the start to the end of the above-mentioned thread hanging operation The above-mentioned operation information is stored in the above-mentioned control part in such a way that the above-mentioned wire hanging auxiliary member is always in contact with the above-mentioned guide surface. The teaching method according to claim 6 or 7, wherein the teaching is performed in a state where the thread is not held by the thread hanging auxiliary member.

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